Reliability Analysis of a Robot Manipulator Operation Employing Single Monte-Carlo Simulation


Article Preview

The operation error of a robot that occurs inevitably due to the manufacturing tolerance needs to be controlled within a certain range to achieve proper performance of the robot system. The reduction of manufacturing tolerance, however, increases the manufacturing cost in return. Therefore, design engineers try to solve the problem of maximizing the tolerance to reduce the manufacturing cost while minimizing the operation error to satisfy the performance requirement. In the present study, a revolute joint model considering uncertainties due to joint clearance is employed to perform a reliability analysis of the robot manipulator operation. The reliability analysis procedure employs single Monte-Carlo simulation and a statistical relation between the tolerance and the operation error. Significant reduction of computing time can be achieved with the proposed method. The present method is especially effective if sensitivity information is hard to be obtained for the analysis.



Key Engineering Materials (Volumes 321-323)

Edited by:

Seung-Seok Lee, Joon Hyun Lee, Ik Keun Park, Sung-Jin Song, Man Yong Choi




D. H. Choi and H. H. Yoo, "Reliability Analysis of a Robot Manipulator Operation Employing Single Monte-Carlo Simulation", Key Engineering Materials, Vols. 321-323, pp. 1568-1571, 2006

Online since:

October 2006




[1] R.S. Hartenberg and J. Denavit: Kinematic Synthesis of Linkages (McGraw-Hill, 1964).

[2] R.E. Garret and A.S. Hall, in: Effects of Tolerance and Clearance in Linkage Design. ASME Journal of Engineering for Industry, Vol. 91, pp: 198-202 (1969).

[3] S. Dobowsky and F. Freudenstein, in: Dynamic Analysis of Mechanical Systems with Clearances, Part 1: Formulation of Dynamic Model. ASME Journal of Engineering for Industry, Vol. 90, pp: 305-316 (1971).

[4] S. Dobowsky, J.F. Deck and H. Costello, in: The Dynamic Modeling of Flexible Spatial Machine Systems with Clearance Connections. ASME Journal of Mechanisms, Transmissions and Automation in Design Vol. 109, pp: 87-94 (1987).


[5] S.J. Lee: Performance Reliability and Tolerance Allocation of Stochastically Defined Mechanical Systems (Ph. D. Dissertation: The Pennsylvania State University, 1989).

[6] F. Farahanchi and S.W. Shaw, in: Chaotic and Periodic Dynamics of A Slider-Crank Mechanism with Slider Clearance. Journal of Sound and Vibration Vol. 177, pp: 307-324 (1994).


[7] K.W. Chase, J. Gao and S.P. Magleby, in: General 2-D Tolerance Analysis of Mechanical Assemblies with Small Kinematic Adjustments. Journal of Design and Manufacture (1985).

[8] Choi, D. H., Lee, S. J., and Yoo, H. H., Dynamic Analysis of Constrained Mechanical Systems Considering Statistical Properties, IMECE2004-61060, 2004 ASME International Mechanical Engineering Congress, Anaheim, California, USA, (2004).